CN109514141A - A kind of ocean engineering module structure welding method based on VR technology - Google Patents
A kind of ocean engineering module structure welding method based on VR technology Download PDFInfo
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- CN109514141A CN109514141A CN201811571327.9A CN201811571327A CN109514141A CN 109514141 A CN109514141 A CN 109514141A CN 201811571327 A CN201811571327 A CN 201811571327A CN 109514141 A CN109514141 A CN 109514141A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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Abstract
The ocean engineering module structure welding method based on VR technology that the invention discloses a kind of, comprising the following steps: the mathematical model of true workpiece is created by 3D scanning, and generates corresponding 3D mock-up；Using the true welding process of cameras capture, and use projector visualization display on 3D mock-up；) skilled welder by observation crater image, operates virtual welding gun and complete welding process；Welding robot completes true welding by the welding parameter of virtual welding gun；Weld information during robot welding is passed to computer by external monitoring system, and computer forms speed-electric current relational model by welding data；Primary welder completes welding according to the virtual welder of speed-current practice.This method carries out virtual reality welding to ocean engineering module structure, and ocean engineering module Shaped Steel and pipeline etc. is enable more quick and precisely, and to guarantee the personnel safety in welding process and welding efficiency in welding.
Description
Technical field
The present invention relates in ocean engineering welding method more particularly to a kind of ocean engineering module knot based on VR technology
Structure welding method.
Background technique
Important process one of of the welding technique as machine-building, be widely used in aerospace, rail traffic,
The industrial circles such as petrochemical industry, ocean engineering, energy project.Mechanization, automatic welding technique can significantly improve high-volume
Production efficiency, product quality reliability and the consistency of product processing reduce manual welding in the process due to human error band
The mass loss come.However, processing for labyrinth or small batch product, manual welding still has flexibility and accessibility high
Advantage.In aerospace enterprise, certain product structures are relative complex, cannot form batch production, still manual by advanced welder
Process is completed in welding.In marine engineering equipment, the welding surroundings of some fashioned iron and pipeline are more complex, and welding is not enough just
The process safety of benefit, welding is poor, and therefore, manual welding will continue to play its irreplaceable role, but there is also need
It solves the problems, such as.Most important one problem should be dependence of the manual welding quality for welder's operative skill and fully playing on spot
Property, the shortage of skilled welder keeps the problem more prominent.
Summary of the invention
It is an object of the invention to overcome the shortcomings of prior art, a kind of ocean engineering module knot based on VR technology is provided
Structure welding method.This method fast can accurately and safely carry out the structure welding of ocean engineering module, utilize VR technology
Safety can be greatly improved by carrying out non-at-scene operation, while by the model-aided of computer in welding process, make entirely to weld
Termination process is more accurate, improves the efficiency of welding personnel, reduces the construction requirement of technical staff.
In order to achieve the above object, the technical solution adopted by the present invention is that:
A kind of ocean engineering module structure welding method based on VR technology of the invention, comprising the following steps:
(1) mathematical model that true welding workpiece is created by 3D scanning, is added using obtained welding workpiece mathematical model
Work goes out part model, so that part model and the shape and size of true welding workpiece are consistent, to obtain the 3D of workpiece
Mock-up；
(2) the true welding process of cameras capture is utilized, the placing attitude of 3D mock-up and true welding workpiece is kept
Unanimously, position of the crater image live fluoroscopic then camera shoot using projector on 3D mock-up surface with really
Welding workpiece is consistent, shows the crater image information visualization of true welding process；
(3) skilled welder is believed by observing the crater image that by camera shooting and the projector by being connected with camera goes out
It ceases, is operated in the welding surroundings simulated on the virtual welding bench being made of projector, virtual welding gun, 3D mock-up
Virtual welding gun completes welding, and virtual welding gun is identical welding gun model with true welding gun shapes and sizes, and virtual welding gun and 3D are real
The positional relationship of welding gun and workpiece is consistent in the positional relationship of object model and true welding surroundings；
(4) it during skilled welder completes welding using virtual welding gun, is passed by the movement installed on virtual welding gun
The three-dimensional coordinate of virtual welding gun and speed of welding information are transferred to computer by sensor, the three-dimensional coordinate that then computer will obtain
And speed of welding information is converted to robot language, robot passes through the three-dimensional coordinate and speed of welding letter of obtained virtual welding gun
Breath completes actual welding process；
(5) robot is acquired in real time by the external monitoring system that camera, current sensor, ammeter form really to weld
Weld information in the process, the camera acquire the crater image in true welding process, are mounted on true welding gun
Current sensor acquires the numerical value of welding current and the ammeter by being connected with current sensor is shown, then external monitoring system
Associated welds information during robot welding is passed into computer, computer is according to the number of speed of welding and welding current
It carries out curve fitting according to using MATLAB software, so that it is set up the relational model of speed of welding and welding current, according to data
Curve obtains approximate function: v=aI+b, and wherein I is welding current, and v is corresponding speed of welding, and a and b are the fitting system of function
Number, to obtain speed-current control experience of robot when skilled welder welding；
(6) primary welder is when the virtual welder of operation welds, the speed of welding and weldering that are obtained according to step (5)
It connects current function relationship and adjusts speed of welding under different welding currents, so that primary welder is obtained computer in the welding process and mention
The experience auxiliary of the skilled welder supplied completes welding to gradually be adjusted to required welded condition.
The beneficial effects of the present invention are:
The method of the present invention can carry out virtual reality welding to ocean engineering module structure, make ocean engineering module Shaped Steel
More quick and precisely, and it can guarantee personnel safety and welding in entire welding process in welding with pipeline etc.
Efficiency.By the application of VR virtual reality technology make entire welding process become fast, solve in welding process safety without
The problem of guarantee.In addition, also generating by the relational model of computer, excessively rely on technical staff's when solving welding instantly
The problem of technical ability, realizes " the de- technical ability " of welding process, gets rid of construction personnel and rely on the height of operative skill, reach people
The purpose of machine complementation.The present invention substantially increases the welding efficiency of ocean engineering module structure, considerably reduces welding process
Difficulty, reduce the risk of personnel in welding process, be suitble to the welding process in this field.
Detailed description of the invention
Fig. 1 is a kind of flow chart of ocean engineering module structure welding method based on VR technology of the invention.
Fig. 2 is that the welding platform system of the invention based on VR technology constitutes schematic diagram.
Specific embodiment
The present invention will be described in detail in the following with reference to the drawings and specific embodiments.
A kind of ocean engineering module structure welding method based on VR technology of the invention as shown in Fig. 1, including with
Lower step:
(1) mathematical model that true welding workpiece is created by 3D scanning, is added using obtained welding workpiece mathematical model
Work goes out part model, so that part model and the shape and size of true welding workpiece are consistent, to obtain the 3D of workpiece
Mock-up；
(2) the true welding process of cameras capture is utilized, the placing attitude of 3D mock-up and true welding workpiece is kept
Unanimously, position of the crater image live fluoroscopic then camera shoot using projector on 3D mock-up surface with really
Welding workpiece is consistent, shows the crater image information visualization of true welding process.Crater image information and 3D mock-up
The combination on surface has achieved the purpose that the true welding workpiece surface of simulation, and by simulating true welding workpiece surface, welder can be with
The real time information of true welding process is intuitive to see, to form the virtual welding surroundings of VR；
(3) skilled welder is believed by observing the crater image that by camera shooting and the projector by being connected with camera goes out
It ceases, is operated in the welding surroundings simulated on the virtual welding bench being made of projector, virtual welding gun, 3D mock-up
Virtual welding gun completes welding, and virtual welding gun is identical welding gun model with true welding gun shapes and sizes, and virtual welding gun and 3D are real
The positional relationship of welding gun and workpiece is consistent in the positional relationship of object model and true welding surroundings；
(4) it during skilled welder completes welding using virtual welding gun, is passed by the movement installed on virtual welding gun
The three-dimensional coordinate of virtual welding gun and speed of welding information are transferred to computer by sensor, the three-dimensional coordinate that then computer will obtain
And speed of welding information is converted to robot language, robot passes through the three-dimensional coordinate and speed of welding letter of obtained virtual welding gun
Breath completes actual welding process, and true welding gun is protected with the three-dimensional coordinate information of virtual welding gun, speed of welding in the welding process
It holds consistent, it is ensured that the motion synchronicity of virtual welding gun and true welding gun；
(5) robot is acquired in real time by the external monitoring system that camera, current sensor, ammeter form really to weld
Weld information in the process, the camera acquire the crater image in true welding process, are mounted on true welding gun
Current sensor acquires the numerical value of welding current and the ammeter by being connected with current sensor is shown, then external monitoring system
Associated welds information during robot welding is passed into computer, computer is according to speed of welding (robot welding speed
Spend consistent with virtual welding gun speed of welding) it is carried out curve fitting with the data of welding current using MATLAB software, make its foundation
The relational model for playing speed of welding and welding current, obtains approximate function according to data and curves: v=aI+b, and wherein I is welding electricity
Stream, v are corresponding speed of welding, and a and b are the fitting coefficient of function, to obtain the speed-of robot when skilled welder welding
Current control experience；
(6) since speed of welding and welding current influence welding result simultaneously, primary welder is operating virtual welder
When being welded, the speed of welding obtained according to step (5) adjusts the weldering under different welding currents from welding current functional relation
Speed is connect, so that primary welder is obtained the experience auxiliary of the skilled welder of computer offer in the welding process, to gradually adjust
To required welded condition, welding is completed.
Claims (1)
1. a kind of ocean engineering module structure welding method based on VR technology, it is characterised in that the following steps are included:
(1) mathematical model that true welding workpiece is created by 3D scanning, is processed using obtained welding workpiece mathematical model
Part model, so that part model and the shape and size of true welding workpiece are consistent, so that the 3D for obtaining workpiece is in kind
Model；
(2) the true welding process of cameras capture is utilized, 3D mock-up and the placing attitude of true welding workpiece are consistent,
Then position and true welding of the crater image live fluoroscopic shot camera using projector on 3D mock-up surface
Workpiece is consistent, shows the crater image information visualization of true welding process；
(3) the crater image information that skilled welder is shot by observation by camera and the projector by being connected with camera goes out,
It is operated in the welding surroundings simulated on the virtual welding bench being made of projector, virtual welding gun, 3D mock-up empty
Quasi- welding gun completes welding, and virtual welding gun is identical welding gun model with true welding gun shapes and sizes, and virtual welding gun and 3D are in kind
The positional relationship of welding gun and workpiece is consistent in the positional relationship of model and true welding surroundings；
(4) during skilled welder completes welding using virtual welding gun, pass through the motion sensor installed on virtual welding gun
The three-dimensional coordinate of virtual welding gun and speed of welding information are transferred to computer, then computer is by obtained three-dimensional coordinate and weldering
Connect velocity information and be converted to robot language, robot pass through obtained virtual welding gun three-dimensional coordinate and speed of welding information it is complete
At actual welding process；
(5) the true welding process of robot is acquired by the external monitoring system that camera, current sensor, ammeter form in real time
In weld information, the camera acquires the crater image in true welding process, the electric current being mounted on true welding gun
The numerical value and the ammeter by being connected with current sensor of sensor acquisition welding current show that then external monitoring system is by machine
Associated welds information in device people's welding process passes to computer, and computer is according to speed of welding and the data of welding current benefit
It is carried out curve fitting with MATLAB software, so that it is set up the relational model of speed of welding and welding current, according to data and curves
Obtain approximate function: v=aI+b, wherein I is welding current, and v is corresponding speed of welding, and a and b are the fitting coefficient of function,
Speed-current control experience of robot when to obtain skilled welder welding；
(6) primary welder is when the virtual welder of operation welds, the speed of welding and welding electricity that are obtained according to step (5)
Stream function relationship adjusts the speed of welding under different welding currents, and primary welder is made to obtain computer offer in the welding process
The experience auxiliary of skilled welder completes welding to gradually be adjusted to required welded condition.
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| CN201811571327.9A CN109514141B (en) | 2018-12-21 | 2018-12-21 | Ocean engineering module structure welding method based on VR technology |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112270860A (en) * | 2020-10-23 | 2021-01-26 | 武汉湾流科技股份有限公司 | Virtual welding training method and system based on flexible material |
| CN112496582A (en) * | 2020-11-23 | 2021-03-16 | 博迈科海洋工程股份有限公司 | Ocean engineering complex node multi-robot welding cooperative control method |
| CN112743276A (en) * | 2020-12-02 | 2021-05-04 | 海门市帕源路桥建设有限公司 | Welding method for welding spot virtualization and welding spot rehearsal |
| CN112917058A (en) * | 2021-02-19 | 2021-06-08 | 恒大新能源汽车投资控股集团有限公司 | Auxiliary monitoring method and device for welding assembly station and electronic equipment |
| CN115007975A (en) * | 2022-06-09 | 2022-09-06 | 天津大学 | TIG send a welding system based on VR equipment is supplementary |
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| CN115007975A (en) * | 2022-06-09 | 2022-09-06 | 天津大学 | TIG send a welding system based on VR equipment is supplementary |
| CN115007975B (en) * | 2022-06-09 | 2023-10-27 | 天津大学 | TIG wire feeding welding system based on VR equipment assistance |
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| CN109514141B (en) | 2020-10-09 |
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